CN109719729B - Rotating disc type automatic tracing mark code identification carrying trolley and use method thereof - Google Patents
Rotating disc type automatic tracing mark code identification carrying trolley and use method thereof Download PDFInfo
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- CN109719729B CN109719729B CN201910072630.2A CN201910072630A CN109719729B CN 109719729 B CN109719729 B CN 109719729B CN 201910072630 A CN201910072630 A CN 201910072630A CN 109719729 B CN109719729 B CN 109719729B
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Abstract
The invention discloses a turntable type automatic tracing mark code identification carrying trolley which comprises a trolley body, a walking device, a positioning device, a grabbing device, an identification device, a control device and a rotary object stage, wherein the walking device, the positioning device, the grabbing device, the identification device, the control device and the rotary object stage are all arranged on the trolley body, and the control device is respectively connected with the walking device, the positioning device, the grabbing device, the identification device and the rotary object stage; the invention can realize the technical effect of accurate grabbing and releasing, each positioning is independent, and the fault tolerance is higher; the first steering engine returns to zero before rotating every time, so that the accumulation of the steering engine gear system errors of the steering engine gear system is effectively avoided; the inclined plate is arranged in the loading groove so as to generate centrifugal force when the loading plate I rotates, so that the articles placed in the loading groove are attached to the side wall of the loading groove, and the positioning effect of the articles is improved.
Description
Technical Field
The invention relates to the technical field of automation, in particular to a rotating disc type automatic tracing code identification carrying trolley and a using method thereof.
Background
In the production line of needs frequent transport article, traditional manual handling amount of labour is big, and is with high costs, and production efficiency is low, and is consuming time and wasting power, and the device of automatic trail bar code discernment transport can automatic identification, carries to concrete position, but current automatic handling dolly needs the arm in X, Y, Z three dimension adjustment position, and after the arm frequently snatchs article, the positioning error accumulation can be bigger and bigger, can produce the location and snatch inaccurate problem.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides a rotating disc type automatic tracing code identification carrying trolley and a using method thereof.
The technical scheme adopted by the invention for solving the technical problem is as follows: the utility model provides an automatic mark code discernment floor truck of seeking of carousel formula, includes automobile body, running gear, positioner, grabbing device, recognition device, controlling means, rotates the objective table, running gear, positioner, grabbing device, recognition device, controlling means, rotation objective table all locate the automobile body on, controlling means link to each other with running gear, positioner, grabbing device, recognition device, rotation objective table respectively.
The automobile body on be equipped with the sweep, running gear include drive wheel, motor the drive wheel be four at least, and evenly distributed in sweep bottom, the drive wheel include left front wheel, left rear wheel, right front wheel and right rear wheel, the motor including be used for driving left front wheel and left rear wheel pivoted left driving motor, be used for driving right front wheel and right rear wheel pivoted right driving motor.
Positioner include three groups sensor all the way, eight way sensors, near-infrared sensor and laser rangefinder keep away the barrier sensor, near-infrared sensor and three groups sensor all the way locate the right side of sweep, eight way sensors locate the sweep below, be located the sweep intermediate position department of automobile body traffic direction front end, laser rangefinder keep away the barrier sensor locate on the sweep top and the corresponding position of eight way sensor.
The gripping device comprises a mechanical arm and a mechanical arm, wherein the mechanical arm is connected with one end of the mechanical arm, and the other end of the mechanical arm is connected with the turning plate.
The mechanical arm comprises an inverted U-shaped connecting frame I, a U-shaped connecting frame II, a U-shaped connecting frame III, an inverted U-shaped connecting frame IV, a second steering engine, a third steering engine, a fourth steering engine and a connecting straight rod, wherein the second steering engine is arranged on the upper surface of the inverted U-shaped connecting frame IV, the lower end of the inverted U-shaped connecting frame IV is connected with a vehicle plate, the second steering engine is connected with the third steering engine sequentially through the inverted U-shaped connecting frame I, the connecting straight rod and the U-shaped connecting frame II, the output shafts of the second steering engine and the third steering engine are respectively connected with two inner side surfaces of the inverted U-shaped connecting frame I and the U-shaped connecting frame II, two ends of the connecting straight rod are respectively vertically connected with the upper surface of the inverted U-shaped connecting frame I and the bottom surface of the U-shaped connecting frame II, the third steering engine is connected with the bottom surface of the U-shaped connecting frame III, the output shaft of the fourth steering engine is connected with two inner side surfaces above the U-shaped connecting frame, the upper part of the fourth steering engine 17 is connected with the manipulator 1; the recognition device is arranged above the manipulator 1;
the identification device is arranged above the manipulator and is scanning equipment, and a scanning chip and a processor connected with the scanning chip are arranged in the scanning equipment.
The rotary object carrying platform comprises a first steering engine, universal wheels, copper columns, an object carrying plate I and an object carrying plate II, wherein the object carrying plate I and the object carrying plate II are both disc-shaped, the first steering engine is arranged on the upper surface of the vehicle plate, an output shaft of the first steering engine is connected with the object carrying plate I, the universal wheels are arranged below the object carrying plate I, the distances between each universal wheel and the output shaft of the first steering engine are the same, the lower ends of the copper columns are connected with the upper surface of the object carrying plate I, the upper portions of the copper columns are connected with the object carrying plate II, the copper columns are a plurality of and are uniformly distributed around the circle center of the object carrying plate I, a plurality of object carrying grooves are arranged on the object carrying plate II, inclined plates are arranged in the object carrying grooves, the object carrying grooves are uniformly distributed around the circle center of the object carrying plate II, and the heights of the inclined plates are gradually reduced from one end close to the circle center of the object carrying plate II; a steering wheel output shaft, carry thing board I and carry thing board II and be on the same center line.
The control device is a raspberry pie.
The use method of the turntable type automatic tracing code identification carrying trolley comprises the following steps:
(1) firstly, drawing a plurality of continuous black lines for tracking which are not mutually crossed in a carrying area, placing a goods shelf on the right side of the running direction of the trolley by taking the width which can be identified by an eight-way sensor and a one-way sensor as reference, dividing the goods shelf into a goods storage area and a goods stacking area, and drawing three black lines for positioning which are arranged in parallel and are vertical to the black lines for tracking between the goods shelf in the goods storage area and the goods stacking area and the black lines for tracking;
(2) starting a control device, wherein the control device starts an eight-way sensor in the traveling device to track the movement of the vehicle by using the black line for tracking;
(3) when the vehicle travels to the goods storage area, the near-infrared sensor detects goods shelf feedback signals of the goods storage area, five times of positioning is carried out by identifying three black lines and using a three-position binary coding mode by combining three paths of sensors on the side edges, the manipulator is over against the goods, and the vehicle stops;
(4) starting the mechanical arm and the scanning equipment, scanning the mark codes of the goods on the goods shelf of the goods storage area, carrying the scanned goods to the rotary carrying groove, and recording the scanning information and the position information of the goods in the processor; if the article is grabbed and placed completely before the five times of positioning, the trolley continues to travel along the track without completing the five times of positioning, so that the feeding time is saved;
(5) starting a traveling device to travel forwards according to the track of the black lines for tracking, detecting a goods shelf feedback signal of a goods shelf in a goods shelf area by a near infrared sensor when the vehicle travels to the goods shelf area, performing five-time positioning by identifying three black lines in a three-position binary coding mode by combining three sensors in one way on the side edge, and stopping the vehicle when the vehicle is just opposite to a goods shelf frame each time a manipulator is opposite to the goods shelf frame;
(6) starting the mechanical arm and the scanning equipment, scanning the mark codes on the goods shelf in the goods stacking area, putting the goods corresponding to the mark codes on the carrying plate into the appointed goods shelf through the mechanical arm, and completing the transportation;
(7) in the steps (2) and (5), in the process of tracking the trolley, if the obstacle is detected by the laser ranging obstacle avoidance sensor, performing obstacle avoidance action, namely turning left to avoid the obstacle and finding a new line to advance, then continuing tracking, and if no obstacle is detected, continuing the tracking operation; if the article is grabbed and placed completely before the five times of positioning, the trolley continues to travel along the track without completing the five times of positioning, and the feeding time is saved.
The invention has the beneficial effects that: the three groups of sensors are used for positioning in a three-position binary coding mode, the mechanical arm does not need to rotate around a Z axis, only the mechanical arm is aligned with an article to be taken, then the mechanical arm bends forwards to grab the article and bends backwards to place the article, and therefore the technical effect of accurate grabbing and releasing is achieved, each positioning is independent, and higher fault tolerance is achieved; the rotary object carrying table is adopted, the mechanical arm can realize fixed-point clamping, and the rotary object carrying disc rotates at fixed points, so that the motion path of the mechanical arm is simplified, and the structure is more stable; the control is simpler, the steering engine returns to zero before rotating every time, and the accumulation of the steering engine gear system errors is effectively avoided; the inclined plate is arranged in the loading groove so as to generate centrifugal force when the loading plate I rotates, so that the articles placed in the loading groove are attached to the side wall of the loading groove, and the positioning effect of the articles is improved.
Drawings
Fig. 1 is a perspective view of the present invention.
Fig. 2 is a front view of the present invention.
Detailed Description
The invention is further illustrated by the following figures and examples.
As shown in the figure, the turntable type automatic tracing code identification carrying trolley comprises a trolley body, a walking device, a positioning device, a grabbing device, an identification device, a control device and a rotating objective table, wherein the walking device, the positioning device, the grabbing device, the identification device, the control device and the rotating objective table are all arranged on the trolley body, and the control device is respectively connected with the walking device, the positioning device, the grabbing device and the identification device.
The vehicle body is provided with a vehicle board 9, the traveling device comprises at least four driving wheels 11 and motors, the driving wheels 11 are uniformly distributed at the bottom of the vehicle board 9, each driving wheel 11 comprises a left front wheel, a left rear wheel, a right front wheel and a right rear wheel, and each motor comprises a left driving motor for driving the left front wheel and the left rear wheel to rotate and a right driving motor for driving the right front wheel and the right rear wheel to rotate; the left front wheel and the left rear wheel and the right front wheel and the right rear wheel are enabled to obtain different rotating speeds by controlling the left driving motor and the right driving motor, so that the vehicle body can be turned.
Positioner include three groups sensor 3 all the way, eight way sensor 18, near infrared sensor and laser range finding and keep away barrier sensor 14, near infrared sensor and three groups sensor 3 all the way locate the right side of sweep, eight way sensor 18 locate sweep 9 below, be located sweep 9 intermediate position department of automobile body traffic direction front end, laser range finding keep away barrier sensor 14 locate sweep 9 top and eight way sensor 18 corresponding positions on.
The gripping device comprises a mechanical arm 1 and a mechanical arm, wherein the mechanical arm 1 is connected with one end of the mechanical arm, and the other end of the mechanical arm is connected with the turning plate 9.
The mechanical arm comprises an inverted U-shaped connecting frame I6, a U-shaped connecting frame II 4, a U-shaped connecting frame III 3, an inverted U-shaped connecting frame IV 7, a second steering engine 15, a third steering engine 16, a fourth steering engine 17 and a connecting straight rod 5, wherein the second steering engine 15 is arranged on the upper surface of the inverted U-shaped connecting frame IV 7, the lower end of the inverted U-shaped connecting frame IV 7 is connected with a vehicle plate 9, the second steering engine 15 is connected with the third steering engine 16 through the inverted U-shaped connecting frame I6, the connecting straight rod 5 and the U-shaped connecting frame II 4 in sequence, output shafts of the second steering engine 15 and the third steering engine 16 are respectively connected with two inner side surfaces of the inverted U-shaped connecting frame I6 and the U-shaped connecting frame II 4, two ends of the connecting straight rod 5 are respectively vertically connected with the upper surface of the inverted U-shaped connecting frame I6 and the bottom surface of the U-shaped connecting frame II 4, and the third steering engine 16 is connected with the bottom surface of the U-shaped connecting frame III 3, an output shaft of the fourth steering engine 17 is connected with two inner side surfaces above the U-shaped connecting frame III 3, and the upper part of the fourth steering engine 17 is connected with the manipulator 1;
the recognition device 2 is arranged above the manipulator 1; the identification device is scanning equipment, and a scanning chip and a processor connected with the scanning chip are arranged in the scanning equipment.
Adopt three groups of sensors 3 all the way to fix a position through the mode of tribit binary coding, do not need the arm around the Z axle rotation, only make the arm with wait to get the article and adjust well, then the arm is crooked forward and is snatched article, and the backward bending places article to realize grabbing and putting accurate technological effect, fix a position each time all independent, have higher fault-tolerance.
The rotary object carrying table comprises a first steering engine, universal wheels 10, copper columns 19, an object carrying plate I20 and an object carrying plate II 21, wherein the object carrying plate I20 and the object carrying plate II 21 are both disc-shaped, the first steering engine is arranged on the upper surface of the vehicle plate 9, an output shaft of the first steering engine is connected with the object carrying plate I20, the universal wheels 10 are arranged below the object carrying plate I20, the distance between each universal wheel 10 and the output shaft of the first steering engine is the same, the lower end of each copper column 19 is connected with the upper surface of the object carrying plate I20, the upper part of each copper column 19 is connected with the object carrying plate II 21, the copper columns 19 are uniformly distributed around the circle center of the object carrying plate I20, a plurality of object carrying grooves 12 are arranged on the object carrying plate II 21, inclined plates 13 are arranged in the object carrying grooves 12, the object carrying grooves 12 are uniformly distributed around the circle center of the object carrying plate II 21, the height of the inclined plate 13 is gradually reduced from one end close to the circle center of the object carrying plate II 21 to one end far away from the circle center of the object carrying plate II 21; the output shaft of the first steering engine, the carrying plate I20 and the carrying plate II 21 share the same center line; the rotary object carrying table is adopted, the mechanical arm can realize fixed-point clamping, and the rotary object carrying disc rotates at fixed points, so that the motion path of the mechanical arm is simplified, and the structure is more stable; the control is simpler, the steering engine returns to zero before rotating every time, and the accumulation of the steering engine gear system errors is effectively avoided; the inclined plate 13 is arranged in the carrying groove 12 to generate centrifugal force when the carrying plate I20 rotates, so that the articles placed in the carrying groove 12 are tightly attached to the side wall of the carrying groove, and the positioning effect of the articles is improved.
The control device comprises a raspberry pi 8.
The use method of the turntable type automatic tracing code identification carrying trolley comprises the following steps:
(1) firstly, drawing a plurality of continuous black lines for tracking which are not mutually crossed in a carrying area, placing a goods shelf on the right side of the running direction of the trolley by taking the width which can be identified by the eight-way sensor 18 and the one-way sensor 3 as the standard, dividing the goods shelf into a goods storage area and a goods stacking area, and drawing three black lines for positioning which are arranged in parallel and are vertical to the black lines for tracking between the goods shelf in the goods storage area and the goods stacking area and the black lines for tracking;
(2) starting a control device, wherein the control device starts an eight-way sensor 18 in the traveling device to track the movement of the vehicle by using the black lines for tracking;
(3) when the vehicle travels to the goods storage area, the near-infrared sensor detects goods shelf feedback signals of the goods storage area, five times of positioning is carried out by identifying three black lines and using a three-position binary coding mode by combining three paths of sensors on the side edges, the manipulator 1 is over against the goods, and the vehicle stops;
(4) the mechanical arm, the rotary object stage and the scanning equipment are started to scan the mark codes of the goods on the goods shelf in the goods storage area, then the scanned goods are conveyed to the object carrying groove 12, meanwhile, the scanning information and the position information of the goods are recorded in the processor, if the goods are grabbed and placed before five times of positioning, the trolley continues to walk along the track, five times of positioning is not needed to be completed, and the feeding time is saved;
(5) starting a walking device to walk forwards according to the track of the black lines for tracking, detecting a goods shelf feedback signal of a goods shelf in a goods shelf area by a near infrared sensor when the walking device walks to the goods shelf area, performing five-time positioning by identifying three black lines in a three-position binary coding mode by combining three groups of sensors 3 on the side edge, and stopping the vehicle when the manipulator 1 is just opposite to a goods shelf frame each time;
(6) starting the mechanical arm, the rotary object stage and the scanning equipment, scanning the mark codes on the goods shelf in the goods-code area, putting the goods corresponding to the mark codes on the object carrying groove 12 into the appointed goods shelf through the mechanical arm 1, and finishing the transportation;
(7) in the steps (2) and (5), in the process of tracking the trolley, if the laser ranging obstacle avoidance sensor 14 detects an obstacle, performing obstacle avoidance, namely turning left to avoid the obstacle and finding a new line to advance, and then continuing tracking, if no obstacle is detected, continuing to track; if the article is grabbed and placed completely before the five times of positioning, the trolley continues to travel along the track without completing the five times of positioning, and the feeding time is saved.
Claims (1)
1. A turntable type automatic tracing mark code identification carrying trolley is characterized by comprising a trolley body, a travelling device, a positioning device, a grabbing device, an identification device, a control device and a rotary object stage, wherein the travelling device, the positioning device, the grabbing device, the identification device, the control device and the rotary object stage are all arranged on the trolley body, and the control device is respectively connected with the travelling device, the positioning device, the grabbing device, the identification device and the rotary object stage;
the vehicle body is provided with a vehicle board, the traveling device comprises at least four driving wheels and motors, the driving wheels are uniformly distributed at the bottom of the vehicle board and comprise a left front wheel, a left rear wheel, a right front wheel and a right rear wheel, and the motors comprise a left driving motor for driving the left front wheel and the left rear wheel to rotate and a right driving motor for driving the right front wheel and the right rear wheel to rotate;
the positioning device comprises three groups of sensors, eight sensors, a near infrared sensor and a laser ranging obstacle avoidance sensor, wherein the near infrared sensor and the three groups of sensors are arranged on the right side of the vehicle plate, the eight sensors are arranged below the vehicle plate and positioned in the middle of the vehicle plate at the front end of the vehicle body in the running direction, and the laser ranging obstacle avoidance sensor is arranged above the vehicle plate and in a position corresponding to the eight sensors;
the gripping device comprises a mechanical arm and a mechanical arm, the mechanical arm is connected with one end of the mechanical arm, and the other end of the mechanical arm is connected with the turning plate;
the mechanical arm comprises an inverted U-shaped connecting frame I, a U-shaped connecting frame II, a U-shaped connecting frame III, an inverted U-shaped connecting frame IV, a second steering engine, a third steering engine, a fourth steering engine and a connecting straight rod, wherein the second steering engine is arranged on the upper surface of the inverted U-shaped connecting frame IV, the lower end of the inverted U-shaped connecting frame IV is connected with a vehicle plate, the second steering engine is connected with the third steering engine sequentially through the inverted U-shaped connecting frame I, the connecting straight rod and the U-shaped connecting frame II, the output shafts of the second steering engine and the third steering engine are respectively connected with two inner side surfaces of the inverted U-shaped connecting frame I and the U-shaped connecting frame II, two ends of the connecting straight rod are respectively vertically connected with the upper surface of the inverted U-shaped connecting frame I and the bottom surface of the U-shaped connecting frame II, the third steering engine is connected with the bottom surface of the U-shaped connecting frame III, the output shaft of the fourth steering engine is connected with two inner side surfaces above the U-shaped connecting frame, the upper part of the fourth steering engine (17) is connected with the manipulator (1); the recognition device is arranged above the manipulator (1);
the recognition device is arranged above the manipulator and is scanning equipment, and a scanning chip and a processor connected with the scanning chip are arranged in the scanning equipment;
the rotary object carrying platform comprises a first steering engine, universal wheels, copper columns, an object carrying plate I and an object carrying plate II, wherein the object carrying plate I and the object carrying plate II are both disc-shaped, the first steering engine is arranged on the upper surface of the vehicle plate, an output shaft of the first steering engine is connected with the object carrying plate I, the universal wheels are arranged below the object carrying plate I, the distances between each universal wheel and the output shaft of the first steering engine are the same, the lower ends of the copper columns are connected with the upper surface of the object carrying plate I, the upper portions of the copper columns are connected with the object carrying plate II, the copper columns are a plurality of and are uniformly distributed around the circle center of the object carrying plate I, a plurality of object carrying grooves are arranged on the object carrying plate II, inclined plates are arranged in the object carrying grooves, the object carrying grooves are uniformly distributed around the circle center of the object carrying plate II, and the heights of the inclined plates are gradually reduced from one end close to the circle center of the object carrying plate II; the first steering engine output shaft, the carrying plate I and the carrying plate II are concentric;
the control device is a raspberry pie;
the use method of the turntable type automatic tracing code identification carrying trolley comprises the following steps:
(1) firstly, drawing a plurality of continuous black lines for tracking which are not mutually crossed in a carrying area, placing a goods shelf on the right side of the running direction of the trolley by taking the width which can be identified by an eight-way sensor and a one-way sensor as reference, dividing the goods shelf into a goods storage area and a goods stacking area, and drawing three black lines for positioning which are arranged in parallel and are vertical to the black lines for tracking between the goods shelf in the goods storage area and the goods stacking area and the black lines for tracking;
(2) starting a control device, wherein the control device starts an eight-way sensor in the traveling device to track the movement of the vehicle by using the black line for tracking;
(3) when the vehicle travels to the goods storage area, the near-infrared sensor detects goods shelf feedback signals of the goods storage area, five times of positioning is carried out by identifying three black lines and using a three-position binary coding mode by combining three paths of sensors on the side edges, the manipulator is over against the goods, and the vehicle stops;
(4) starting the mechanical arm and the scanning equipment, scanning the mark codes of the goods on the goods shelf of the goods storage area, carrying the scanned goods to the rotary carrying groove, and recording the scanning information and the position information of the goods in the processor; if the article is grabbed and placed completely before the five times of positioning, the trolley continues to travel along the track without completing the five times of positioning, so that the feeding time is saved;
(5) starting a traveling device to travel forwards according to the track of the black lines for tracking, detecting a goods shelf feedback signal of a goods shelf in a goods shelf area by a near infrared sensor when the vehicle travels to the goods shelf area, performing five-time positioning by identifying three black lines in a three-position binary coding mode by combining three sensors in one way on the side edge, and stopping the vehicle when the vehicle is just opposite to a goods shelf frame each time a manipulator is opposite to the goods shelf frame;
(6) starting the mechanical arm and the scanning equipment, scanning the mark codes on the goods shelf in the goods stacking area, putting the goods corresponding to the mark codes on the carrying plate into the appointed goods shelf through the mechanical arm, and completing the transportation;
(7) in the steps (2) and (5), in the process of tracking the trolley, if the obstacle is detected by the laser ranging obstacle avoidance sensor, performing obstacle avoidance action, namely turning left to avoid the obstacle and finding a new line to advance, then continuing tracking, and if no obstacle is detected, continuing the tracking operation; if the article is grabbed and placed completely before the five times of positioning, the trolley continues to travel along the track without completing the five times of positioning, and the feeding time is saved.
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| CN110817228A (en) * | 2019-12-11 | 2020-02-21 | 南京邮电大学 | Unmanned storage carrier |
| CN111392407A (en) * | 2020-03-25 | 2020-07-10 | 于洋 | Intelligence commodity circulation sorting device |
| CN113386879A (en) * | 2021-07-30 | 2021-09-14 | 东南大学 | Lead screw guide rail type logistics trolley with signing function |
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Application publication date: 20190507 Assignee: Lishui Zhongchi Network Technology Co.,Ltd. Assignor: LISHUI University Contract record no.: X2022330000919 Denomination of invention: A kind of rotary table type automatic tracing mark code identification carrier car and its application method Granted publication date: 20220218 License type: Common License Record date: 20221229 Application publication date: 20190507 Assignee: ZHEJIANG LISHUAI MAGNETICS Co.,Ltd. Assignor: LISHUI University Contract record no.: X2022330000912 Denomination of invention: A kind of rotary table type automatic tracing mark code identification carrier car and its application method Granted publication date: 20220218 License type: Common License Record date: 20221228 |
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